CN105402039B - A kind of rotary drilling rig power matching method based on moment of torsion Yu rotating speed complex controll - Google Patents
A kind of rotary drilling rig power matching method based on moment of torsion Yu rotating speed complex controll Download PDFInfo
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- CN105402039B CN105402039B CN201510962376.5A CN201510962376A CN105402039B CN 105402039 B CN105402039 B CN 105402039B CN 201510962376 A CN201510962376 A CN 201510962376A CN 105402039 B CN105402039 B CN 105402039B
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- 238000005553 drilling Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
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- 238000010586 diagram Methods 0.000 description 6
- 238000010276 construction Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2250/00—Engine control related to specific problems or objectives
- F02D2250/18—Control of the engine output torque
- F02D2250/24—Control of the engine output torque by using an external load, e.g. a generator
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2700/00—Mechanical control of speed or power of a single cylinder piston engine
- F02D2700/07—Automatic control systems according to one of the preceding groups in combination with control of the mechanism receiving the engine power
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- Engineering & Computer Science (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- Physics & Mathematics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Positive-Displacement Pumps (AREA)
- Operation Control Of Excavators (AREA)
Abstract
A kind of rotary drilling rig power matching method based on moment of torsion Yu rotating speed complex controll, according to main pump, the pressure of auxiliary pump and the target torque percentage of setting, target current is calculated, at the same time, setting speed adjustment module fast value with what moment of torsion adjustment module was mutually changed, when engine is when falling fast value in real time and being less than setting value, adjusting compensates target current using moment of torsion adjustment module, when engine is when falling fast value in real time and being more than setting value, adjusting compensates target current using rotational speed regulation module, final current value is exported to inverse-proportion pressure reducing valve, and then discharge capacity adjuster is controlled to change discharge of main pump, so as to control the input power of main pump in real time.The present invention is simple, reliable, highly practical, have concurrently rotating speed control rapidity and moment of torsion control predictability the characteristics of, it is possible to prevente effectively from engine seriously fall speed, avoid flame-out phenomenon, improve the operating efficiency of rotary drilling rig, it is ensured that control system it is stable.
Description
Technical field
The present invention relates to a kind of rotary drilling rig power matching method based on moment of torsion Yu rotating speed complex controll, applied to rotary digging
The power match of drilling machine hydraulic pump and engine controls.
Background technology
Rotary drilling rig is the new high-tech product of piling machinery technical field, is pore-forming in a kind of suitable building foundation engineering
The large foundation construction equipment of operation, is widely used in the foundation construction work such as urban construction, highway bridge, skyscraper
Journey.With the development in market, user is higher and higher to the performance requirement of rotary drilling rig, not only requires it to can adapt to complicated work
Condition, should more have energy conservation characteristic.However, improving the performance of rotary drilling rig, the control for being often attributed to improve control system is special
Property.The control system of rotary drilling rig mainly includes the control system of electrical system, hydraulic system and engine.Rotary drilling rig according to
By engine as power source, hydraulic pump is driven to rotate by shaft coupling, hydraulic pump is by rotating backward hydraulic system output stream
Amount, flow export power after different valve groups, to the actuator of each executing agency, actuator motions are driven, so that complete
Into each mechanism action, such as power head rotation, rod boring, drilling rod pressurization, master file lifting and decentralization action.Therefore, how
Match the relevant parameter of rotary drilling rig control system so that the performance of complete machine is optimal an often problem.
During the practice of construction of rotary drilling rig, when running into the heavy load of big ups and downs, engine often occurs
Seriously fall speed, even flame-out phenomenon.In order to solve the problems, such as this, the method used at present is to select more powerful engine
Or limit of utilization load control technology is controlled the rotating speed of engine.When selecting more powerful engine, engine
The size of power needs to be made choice according to the fluctuation situation of load.In order to safe and reliable, it is necessary to increase considerably engine
Reserve capacity, so as to force designer to select the engine of relatively high power, but also brings the problem of more, as cost increase,
Power utilization is low, machine volume is huge and energy consumption is excessively high.Another method is to use ultimate load control technic, the limit
Load control technology refers to that detecting engine in real time falls fast situation, and sets a desired value, pawns speed and reaches this target
After value, start to reduce the discharge capacity of hydraulic pump, so as to reduce the absorbed power of hydraulic system, and then reduce the output work of engine
Rate, prevents engine overload.However, it is contemplated that the fluctuation of speed characteristic that engine itself is intrinsic, i.e., engine is in normal operation
During, within the specific limits fall speed or speedup, engine work is regarded as, therefore, in limits of application load
During control technology, set desired value have to be larger than engine it is permitted fall fast value, due to this specific limitation, controlling
During generate the hysteresis quality of control so that the phenomenon that engine falls speed cannot always control well.
The content of the invention
In view of the above-mentioned problems of the prior art, the object of the present invention is to provide a kind of of low cost, easy to operate, can
Effectively to avoid engine from seriously falling speed and flame-out phenomenon, it is possible to increase the operating efficiency of rotary drilling rig and control system
The rotary drilling rig power matching method based on moment of torsion Yu rotating speed complex controll of stability.
To achieve the above object, the technical solution adopted by the present invention is：A kind of rotation based on moment of torsion Yu rotating speed complex controll
Drilling machine power matching process is dug, is comprised the following steps：
Step 1：System is initialized, checks whether system work is normal, if abnormal, does not perform downwards, and
Alarm, if normally, continued to execute downwards；
Step 2：Parameter setting：Set target torque percentage of the engine under each actual speed；Set engine
Allow to fall fast value under each rotating speed of target；Set initial output current value of the controller to inverse-proportion pressure reducing valve, this electric current
It is worth the dead band electric current for inverse-proportion pressure reducing valve；
Step 3：Data acquisition：Controller reads actual torque percentage and current reality by CAN bus from Engine ECU
Border rotating speed；Rotating speed of target is read by speed setting button；Read respectively by main pump pressure sensor, auxiliary pump pressure sensor
The pressure signal of main pump and auxiliary pump；
Step 4：Enter step 5.1；It is poor at the same time to make the rotating speed of target of reading and actual speed, judges whether this difference surpasses
Crossing under current rotating speed of target allows to fall fast setting value, if it exceeds setting value, enters step 5.2, if being not above setting
Value, then enter step 5.3；
Step 5.1：The target torque percentage under main pump pressure, auxiliary pump pressure and currently practical rotating speed is extracted, according to working as
The relation of target torque percentage and rotating speed-moment of torsion under preceding actual speed, the theoretical output obtained under currently practical rotating speed are turned round
Square value, further according to formula：
Ttar=η Tthe,
The target torque value T under currently practical rotating speed is calculatedtar, wherein, TtarFor target torque value, TtheFor theory
Output torque value, η are the target torque percentage of setting；
According to the pressure of auxiliary pump-discharge capacity relation, auxiliary pump discharge capacity is drawn, further according to main pump pressure, auxiliary pump pressure, by formula
V1=(Ttar—KP2V2)/(KP1),
Discharge of main pump V is calculated1, wherein, V1、V2Respectively discharge of main pump, auxiliary pump discharge capacity, P1、P2Respectively main pump pressure
Power, auxiliary pump pressure, K are conversion coefficient；Then, according to the discharge capacity of main pump-control current curve relation, it is currently real that engine can be obtained
The corresponding output current value of target torque under the rotating speed of border；
Step 5.2：Into rotational speed regulation module：Rotating speed of target and actual speed are extracted, it is poor that two values are made, and by this difference
As feedback signal, PID adjustings are carried out, output current signal, judges that engine falls whether speed exceedes permission setting value, such as again
Fruit exceedes setting value, then keeps output current, if being not above setting value, output current is reset；
Step 5.3：Into moment of torsion adjustment module：Target torque percentage and actual torque percentage are extracted, two values are made
Difference, and using this difference as feedback signal, PID adjustings are carried out, output current signal, judges that engine falls whether speed exceedes again
Allow setting value, if it exceeds setting value, then reset output current, if being not above setting value, keep output current；
Step 6：The output current value of step 5.1 and 5.2 or 5.3 output current value are overlapped integration；
Step 7：The current signal after superposition is exported to inverse-proportion pressure reducing valve by controller, and then controls discharge capacity to adjust
Device changes the discharge capacity of main pump, so as to control the input power of main pump in real time, is then returned to step 3.
Target electricity is calculated according to the target torque percentage of main pump, the pressure of auxiliary pump and setting in the method for the present invention
Stream, meanwhile, what setting speed adjustment module and moment of torsion adjustment module were mutually changed fast value, when engine to fall fast value in real time small
When setting value, adjusting compensates target current using moment of torsion adjustment module, falls fast value in real time more than setting when engine
During definite value, adjusting compensates target current using rotational speed regulation module, final current value is exported to inverse-proportion pressure reducing valve,
And then control discharge capacity adjuster to change discharge of main pump, so as to control the input power of main pump in real time.It is of the invention simple, reliable, real
It is strong with property, have concurrently rotating speed control rapidity and moment of torsion control predictability the characteristics of, it is possible to prevente effectively from engine is serious
Fall speed, avoid flame-out phenomenon, improve the operating efficiency of rotary drilling rig, it is ensured that control system it is stable.
Brief description of the drawings
Fig. 1 is the hsrdware requirements structure diagram of the present invention；
Fig. 2 is the control block of the present invention；
Fig. 3 is the flow diagram of the present invention；
Fig. 4 is inventive engine target torque setting schematic diagram；
Fig. 5 is discharge capacity-control current curve schematic diagram of rotary drilling rig main pump of the present invention；
Fig. 6 is pressure-discharge curve schematic diagram of rotary drilling rig auxiliary pump of the present invention.
In figure, 1. speed setting buttons, 2. controllers, 3. Engine ECUs, 4. inverse-proportion pressure reducing valves, 5. auxiliary pump pressure biography
Sensor, 6. discharge capacity adjusters, 7. engines, 8. main pumps, 9. auxiliary pumps, 10. main pump pressure sensors, 11. hydraulic pilot handles,
12. multi-way valve, the hydraulic actuator of 13. each operating mechanisms.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in Fig. 1 the hsrdware requirements knot based on moment of torsion Yu the rotary drilling rig power matching method of rotating speed complex controll
Structure block diagram, hsrdware requirements include speed setting button 1, and speed setting button 1 is connected by electric wire with controller 2, the control
Device 2 is connected by CAN bus with Engine ECU 3, and the Engine ECU 3 is installed on as the control unit of engine 7 starts
On machine 7, engine 7 is connected by shaft coupling with main pump 8, auxiliary pump 9, and the main pump 8 on the auxiliary pump 9 with being provided with main pump pressure
Sensor 10 and auxiliary pump pressure sensor 5, the main pump pressure sensor 10 and the auxiliary pump pressure sensor 5 pass through electricity respectively
Line is connected with the input terminal of controller 2, the lead-out terminal of the controller 2 and the signal input phase of inverse-proportion pressure reducing valve 4
Even, the inverse-proportion pressure reducing valve 4 is installed on discharge capacity adjuster 6, and the discharge capacity that the discharge capacity adjuster 6 is installed on main pump 8 is adjusted
On mouth, the output oil port of main pump 8 and auxiliary pump 9 is connected with multi-way valve 12 respectively, the input oil port connection hydraulic pressure of the multi-way valve 12
Pilot handle 11, the output oil port of the multi-way valve 12 are connected with the hydraulic actuator 13 of each operating mechanism respectively.
As shown in Figures 2 and 3, the specific steps based on moment of torsion Yu the rotary drilling rig power matching method of rotating speed complex controll
It is as follows：
Step 1：System initialization：System is initialized, checks whether system work is normal, if abnormal, no
Perform downwards, and alarm, if normally, continued to execute downwards；
Step 2：Parameter setting：Set target torque percentage of the engine 7 under each actual speed；Set engine
7 allow to fall fast value under each rotating speed of target；As shown in figure 5, initial output of the setting controller 2 to inverse-proportion pressure reducing valve 4
Current value is 200mA, this current value is the dead band electric current of inverse-proportion pressure reducing valve 4, can be obtained according to actual test, using inverse proportion
The reason for pressure reducing valve 4 is when system failure, when electric current can not export, after inverse-proportion pressure reducing valve 4 is ineffective, can still be protected
Demonstrate,prove the flow output of main pump 8, the action without influencing associated actuator；
Step 3：Data acquisition：Controller 2 reads actual torque percentage and current by CAN bus from Engine ECU 3
Actual speed；Rotating speed of target is read by speed setting button 1；Divided by main pump pressure sensor 10, auxiliary pump pressure sensor 5
Not Du Qu main pump 8 and auxiliary pump 9 pressure signal；
Step 4：Enter step 5.1；It is poor at the same time to make the rotating speed of target of reading and actual speed, judges whether this difference surpasses
Crossing under current rotating speed of target allows to fall fast setting value, if it exceeds setting value, enters step 5.2, if being not above setting
Value, then enter step 5.3；
Step 5.1：The target torque percentage under main pump pressure, auxiliary pump pressure and currently practical rotating speed is extracted, according to working as
Target torque percentage and the rotating speed-torque relationship figure shown in Fig. 4 under preceding actual speed, obtain under currently practical rotating speed
Theoretical output torque value, further according to formula：
Ttar=η Tthe,
The target torque value T under currently practical rotating speed is calculatedtar, wherein, TtarFor target torque value, TtheFor theory
Output torque value, η are the target torque percentage of setting.
The pressure of auxiliary pump 9 according to Fig. 6-discharge capacity graph of a relation, draws auxiliary pump discharge capacity, further according to main pump pressure, auxiliary pump
Pressure, by formula：
V1=(Ttar—KP2V2)/(KP1),
Discharge of main pump V can be calculated1, wherein, V1、V2Respectively discharge of main pump, auxiliary pump discharge capacity, P1、P2Based on respectively
Pump pressure, auxiliary pump pressure, K are conversion coefficient；Then, the discharge capacity of the main pump 8 according to Fig. 5-control current curve relation, can
Obtain the corresponding output current of target torque under 7 currently practical rotating speed of engine；
Step 5.2：Into rotational speed regulation module：Rotating speed of target and actual speed are extracted, it is poor that two values are made, and by this difference
As feedback signal, PID adjustings are carried out, output current signal, judges that engine falls whether speed exceedes permission setting value, such as again
Fruit exceedes setting value, then keeps output current, if being not above setting value, output current is reset；
Step 5.3：Into moment of torsion adjustment module：Target torque percentage and actual torque percentage are extracted, two values are made
Difference, and using this difference as feedback signal, PID adjustings are carried out, output current signal, judges that engine falls whether speed exceedes again
Allow setting value, if it exceeds setting value, then reset output current, if being not above setting value, keep output current；
Step 6：The output current value of step 5.1 and 5.2 or 5.3 output current value are overlapped；
Step 7：Current signal after superposition is exported to inverse-proportion pressure reducing valve 4 by controller 2, and then controls discharge capacity tune
The discharge capacity that device 6 changes main pump 8 is saved, so as to control the input power of main pump 8 in real time, is then returned to step 3.
Claims (1)
1. a kind of rotary drilling rig power matching method based on moment of torsion Yu rotating speed complex controll, it is characterised in that including following step
Suddenly：
Step 1：System is initialized, checks whether system work is normal, if abnormal, does not perform downwards, and carry out
Alarm, if normally, continued to execute downwards；
Step 2：Parameter setting：Set target torque percentage of the engine (7) under each actual speed；Set engine
(7) allow to fall fast value under each rotating speed of target；Set initial output current of the controller (2) to inverse-proportion pressure reducing valve (4)
Value, this current value are the dead band electric current of inverse-proportion pressure reducing valve (4)；
Step 3：Data acquisition：Controller (2) reads actual torque percentage and current by CAN bus from Engine ECU (3)
Actual speed；Rotating speed of target is read by speed setting button (1)；Pass through main pump pressure sensor (10), auxiliary pump pressure sensing
Device (5) reads the pressure signal of main pump (8) and auxiliary pump (9) respectively；
Step 4：Enter step 5.1；It is poor at the same time to make the rotating speed of target of reading and actual speed, judges whether this difference exceedes and works as
Allow to fall fast setting value under preceding rotating speed of target, if it exceeds setting value, enters step 5.2, if being not above setting value,
Enter step 5.3；
Step 5.1：The target torque percentage under main pump pressure, auxiliary pump pressure and currently practical rotating speed is extracted, according to current reality
The relation of target torque percentage and rotating speed-moment of torsion under the rotating speed of border, obtains the theoretical output torque value under currently practical rotating speed,
Further according to formula：
Ttar=η Tthe,
The target torque value T under currently practical rotating speed is calculatedtar, wherein, TtarFor target torque value, TtheExported for theory
Torque value, η are the target torque percentage of setting；
According to the pressure of auxiliary pump (9)-discharge capacity relation, auxiliary pump discharge capacity is drawn, further according to main pump pressure, auxiliary pump pressure, by formula
V1=(Ttar—KP2V2)/(KP1),
Discharge of main pump V is calculated1, wherein, V1、V2Respectively discharge of main pump, auxiliary pump discharge capacity, P1、P2Respectively main pump pressure, pair
Pump pressure, K are conversion coefficient；Then, according to the discharge capacity of main pump (8)-control current curve relation, it is current that engine (7) can be obtained
The corresponding output current value of target torque under actual speed；
Step 5.2：Into rotational speed regulation module：Extract rotating speed of target and actual speed, it is poor that two values are made, and using this difference as
Feedback signal, carries out PID adjustings, output current signal, judges that engine falls whether speed exceedes permission setting value, if super again
Setting value is crossed, then keeps output current, if being not above setting value, output current is reset；
Step 5.3：Into moment of torsion adjustment module：Target torque percentage and actual torque percentage are extracted, it is poor that two values are made, and
Using this difference as feedback signal, PID adjustings are carried out, output current signal, judges that engine falls whether speed exceedes permission again
Setting value, if it exceeds setting value, then reset output current, if being not above setting value, keeps output current；
Step 6：The output current value of the output current value or step 5.3 of the output current value of step 5.1 and step 5.2 is carried out
Superposition is integrated；
Step 7：The current signal after superposition is exported by controller (2) and gives inverse-proportion pressure reducing valve (4), and then controls discharge capacity tune
The discharge capacity that device (6) changes main pump (8) is saved, so as to control the input power of main pump (8) in real time, is then returned to step 3.
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| CN201510962376.5A CN105402039B (en) | 2015-12-21 | 2015-12-21 | A kind of rotary drilling rig power matching method based on moment of torsion Yu rotating speed complex controll |
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| CN103925091A (en) * | 2014-04-09 | 2014-07-16 | 三一汽车起重机械有限公司 | Dynamic power matching method, dynamic power matching system and engineering machinery |
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